CN101466507B - 机器人及其控制方法 - Google Patents

机器人及其控制方法 Download PDF

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Publication number
CN101466507B
CN101466507B CN2007800213951A CN200780021395A CN101466507B CN 101466507 B CN101466507 B CN 101466507B CN 2007800213951 A CN2007800213951 A CN 2007800213951A CN 200780021395 A CN200780021395 A CN 200780021395A CN 101466507 B CN101466507 B CN 101466507B
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CN
China
Prior art keywords
robot
connecting rod
gravity
center
track
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Expired - Fee Related
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CN2007800213951A
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English (en)
Chinese (zh)
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CN101466507A (zh
Inventor
但马龙介
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Toyota Motor Corp
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Toyota Motor Corp
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Publication of CN101466507A publication Critical patent/CN101466507A/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
CN2007800213951A 2006-07-18 2007-07-17 机器人及其控制方法 Expired - Fee Related CN101466507B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP195717/2006 2006-07-18
JP2006195717A JP4591419B2 (ja) 2006-07-18 2006-07-18 ロボットとその制御方法
PCT/JP2007/064084 WO2008010485A1 (en) 2006-07-18 2007-07-17 Robot, and its control method

Publications (2)

Publication Number Publication Date
CN101466507A CN101466507A (zh) 2009-06-24
CN101466507B true CN101466507B (zh) 2010-12-22

Family

ID=38956816

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2007800213951A Expired - Fee Related CN101466507B (zh) 2006-07-18 2007-07-17 机器人及其控制方法

Country Status (6)

Country Link
US (1) US8108070B2 (ja)
EP (1) EP2052817B1 (ja)
JP (1) JP4591419B2 (ja)
KR (1) KR101029228B1 (ja)
CN (1) CN101466507B (ja)
WO (1) WO2008010485A1 (ja)

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JP4548135B2 (ja) 2005-02-03 2010-09-22 トヨタ自動車株式会社 脚式ロボットとその制御方法
JP5035005B2 (ja) * 2008-02-19 2012-09-26 トヨタ自動車株式会社 脚式ロボット、その制御方法、その制御システム
JP2009214255A (ja) * 2008-03-12 2009-09-24 Toyota Motor Corp 脚式ロボット、及びその制御方法
FR2947236B1 (fr) * 2009-06-30 2011-07-15 Aldebaran Robotics Procede pour controler la marche d'un robot mobile et robot mettant en oeuvre le procede
JP5610735B2 (ja) * 2009-09-29 2014-10-22 任天堂株式会社 情報処理プログラム、情報処理装置、情報処理方法、および、情報処理システム
KR101691940B1 (ko) * 2009-10-30 2017-01-02 삼성전자주식회사 로봇 및 그 제어방법
KR101687631B1 (ko) * 2010-01-18 2016-12-20 삼성전자주식회사 로봇의 보행 제어 장치 및 그 제어 방법
KR101438968B1 (ko) 2012-12-27 2014-09-15 현대자동차주식회사 로봇의 보행제어방법 및 시스템
JP6174864B2 (ja) * 2013-02-21 2017-08-02 本田技研工業株式会社 歩行状態推定装置および歩行状態推定方法
US9387588B1 (en) * 2014-08-25 2016-07-12 Google Inc. Handling gait disturbances with asynchronous timing
US10081098B1 (en) 2014-08-25 2018-09-25 Boston Dynamics, Inc. Generalized coordinate surrogates for integrated estimation and control
US9618937B1 (en) 2014-08-25 2017-04-11 Google Inc. Slip detection using robotic limbs
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
US9446518B1 (en) 2014-11-11 2016-09-20 Google Inc. Leg collision avoidance in a robotic device
US9499218B1 (en) 2014-12-30 2016-11-22 Google Inc. Mechanically-timed footsteps for a robotic device
US9594377B1 (en) * 2015-05-12 2017-03-14 Google Inc. Auto-height swing adjustment
US9586316B1 (en) 2015-09-15 2017-03-07 Google Inc. Determination of robotic step path
US9789919B1 (en) 2016-03-22 2017-10-17 Google Inc. Mitigating sensor noise in legged robots
US10386857B2 (en) * 2017-07-05 2019-08-20 Qualcomm Incorporated Sensor-centric path planning and control for robotic vehicles
CN109991989B (zh) * 2017-12-29 2021-12-17 深圳市优必选科技有限公司 机器人空闲状态下的动态平衡方法、装置及存储介质
JP2021065994A (ja) * 2019-10-25 2021-04-30 ソニー株式会社 ロボット装置
CN111015653B (zh) * 2019-12-13 2021-06-04 深圳市优必选科技股份有限公司 机器人控制方法、装置、计算机可读存储介质及机器人
CN113246124B (zh) * 2021-04-30 2023-06-02 深圳市优必选科技股份有限公司 机器人控制方法、装置、计算机可读存储介质及机器人
CN117694841B (zh) * 2024-02-06 2024-04-30 成都中医药大学 一种重心轨迹数据获取方法

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EP1361027A1 (en) * 2000-11-17 2003-11-12 Honda Giken Kogyo Kabushiki Kaisha Gait pattern generating device for legged mobile robot
CN1466507A (zh) * 2000-09-29 2004-01-07 ���＼�й�ҵ��ʽ���� 双脚行走机器人
CN1589190A (zh) * 2001-11-19 2005-03-02 独立行政法人;科学技术振兴机构 双足步行式移动系统、其步行控制器及步行控制方法

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JP3148828B2 (ja) * 1992-04-30 2001-03-26 本田技研工業株式会社 脚式移動ロボットの歩行制御装置
WO1998026905A1 (fr) * 1996-12-19 1998-06-25 Honda Giken Kogyo Kabushiki Kaisha Controleur d'attitude de robot mobile sur jambes
JP3443077B2 (ja) * 1999-09-20 2003-09-02 ソニー株式会社 ロボットの運動パターン生成装置及び運動パターン生成方法、並びにロボット
DE60143101D1 (de) * 2000-11-20 2010-10-28 Sony Corp Bewegungssteuergerät und Bewegungssteuerungsverfahren für einen gehfähigen Roboter mit Beinen und Robotervorrichtung
JP2002239963A (ja) * 2001-02-21 2002-08-28 Sony Corp ロボット装置、ロボット装置の動作制御方法、プログラム及び記録媒体
JP3603279B2 (ja) * 2001-09-26 2004-12-22 独立行政法人科学技術振興機構 二脚歩行式人型ロボット
US7319917B2 (en) 2001-12-28 2008-01-15 Honda Giken Kogyo Kabushiki Kaisha Gait generation device for legged mobile robot
JP3833567B2 (ja) * 2002-05-01 2006-10-11 本田技研工業株式会社 移動ロボットの姿勢制御装置
JP3834629B2 (ja) * 2002-09-26 2006-10-18 独立行政法人産業技術総合研究所 歩行ロボットの歩行歩容生成装置
WO2004030870A1 (ja) * 2002-10-01 2004-04-15 Sony Corporation ロボット装置及びロボット装置の制御方法
JP4483254B2 (ja) 2002-10-01 2010-06-16 ソニー株式会社 ロボット装置及びロボット装置の制御方法
JP3599244B2 (ja) 2002-11-06 2004-12-08 ソニー株式会社 ロボット装置、ロボット装置の運動制御装置並びに運動制御方法
US7072740B2 (en) * 2002-12-16 2006-07-04 Sony Corporation Legged mobile robot
WO2004082900A1 (ja) * 2003-03-23 2004-09-30 Sony Corporation ロボット装置及びその制御方法
JP2005007496A (ja) * 2003-06-17 2005-01-13 Toyota Motor Corp 歩容データの作成装置と作成方法
US7698020B2 (en) * 2003-07-11 2010-04-13 Honda Motor Co., Ltd. Method of estimating joint moment of two-legged walking mobile body
JP4440761B2 (ja) * 2004-12-24 2010-03-24 本田技研工業株式会社 脚式移動ロボットの制御装置
JP2006195717A (ja) 2005-01-13 2006-07-27 Sun Sogo Maintenance:Kk 監視装置
JP4548135B2 (ja) 2005-02-03 2010-09-22 トヨタ自動車株式会社 脚式ロボットとその制御方法
JP4492395B2 (ja) * 2005-03-09 2010-06-30 トヨタ自動車株式会社 脚式ロボットとその動作制御方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1466507A (zh) * 2000-09-29 2004-01-07 ���＼�й�ҵ��ʽ���� 双脚行走机器人
EP1361027A1 (en) * 2000-11-17 2003-11-12 Honda Giken Kogyo Kabushiki Kaisha Gait pattern generating device for legged mobile robot
CN1589190A (zh) * 2001-11-19 2005-03-02 独立行政法人;科学技术振兴机构 双足步行式移动系统、其步行控制器及步行控制方法

Non-Patent Citations (2)

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Title
JP特开2005-7496A 2005.01.13
JP特开平5-305585A 1993.11.19

Also Published As

Publication number Publication date
KR20080102191A (ko) 2008-11-24
WO2008010485A1 (en) 2008-01-24
EP2052817A1 (en) 2009-04-29
US20090005906A1 (en) 2009-01-01
CN101466507A (zh) 2009-06-24
JP4591419B2 (ja) 2010-12-01
KR101029228B1 (ko) 2011-04-14
US8108070B2 (en) 2012-01-31
EP2052817A4 (en) 2014-01-22
JP2008023612A (ja) 2008-02-07
EP2052817B1 (en) 2015-05-27

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